Now showing items 1-5 of 5
Geometric Phases, Anholonomy, and Optimal Movement
In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.
High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with fewer controls than state ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups
In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (e) amplitude, low-frequency, ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...